ResearchBenchmarksKinodynamic Multi-agent Path Planning on Small Cluttered SOC N=4Kinodynamic Multi-agent Path Planning on Small Cluttered SOC N=4Follow100Success Rate (SR)cRRT-4235077May 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Time (CT) (s)Planning Time (PT) (s)cRRTVariant=BaseVariant=Base2026.0510013.2428cRRTVariant=KiTEVariant=KiTE2026.051000.639223pRRTVariant=BaseVariant=Base2026.051001.34132pRRTVariant=KiTEVariant=KiTE2026.051000.258102KCBSVariant=BaseVariant=Base2026.051002.17116KCBSVariant=KiTEVariant=KiTE2026.051000.47987.6dbCBSVariant=BaseVariant=Base2026.050——